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Article: 2台の非ホロノミック移動ロボットによる分散協調搬送
| Title | 2台の非ホロノミック移動ロボットによる分散協調搬送 Coordinated Transportation by Two Nonholonomic Mobile Robots based on Decentralized Control |
|---|---|
| Authors | |
| Keywords | Coordinated Motion Control Nonholonomic Robot Robot Transportation Decentralized Control |
| Issue Date | 1999 |
| Citation | 日本機械学会論文集Ｃ編, 1999, v. 65, n. 634, p. 2379-2385 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 1999, v. 65, n. 634, p. 2379-2385 How to Cite? |
| Abstract | In this paper we propose a decentralized control alogorithm for transporting a single object by two nonholonomic mobile robots. We extend the leader-follower type control algorithm, which we proposed for the holonomic robots(10), to the nonholonomic mobile robots by introducing the dual caster action. The proposed control algorithm is experimentally applied to two nonholonomic mobile robots, and the experimental results illustrate the validity of the extended control algorithm. © 1999, The Japan Society of Mechanical Engineers. All rights reserved. |
| Persistent Identifier | http://hdl.handle.net/10722/302589 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Oosumi, Tomohiro | - |
| dc.contributor.author | Chiba, Kunihiko | - |
| dc.contributor.author | Satou, Manabu | - |
| dc.date.accessioned | 2021-09-07T08:42:12Z | - |
| dc.date.available | 2021-09-07T08:42:12Z | - |
| dc.date.issued | 1999 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 1999, v. 65, n. 634, p. 2379-2385 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 1999, v. 65, n. 634, p. 2379-2385 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302589 | - |
| dc.description.abstract | In this paper we propose a decentralized control alogorithm for transporting a single object by two nonholonomic mobile robots. We extend the leader-follower type control algorithm, which we proposed for the holonomic robots(10), to the nonholonomic mobile robots by introducing the dual caster action. The proposed control algorithm is experimentally applied to two nonholonomic mobile robots, and the experimental results illustrate the validity of the extended control algorithm. © 1999, The Japan Society of Mechanical Engineers. All rights reserved. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Coordinated Motion Control | - |
| dc.subject | Nonholonomic Robot | - |
| dc.subject | Robot | - |
| dc.subject | Transportation | - |
| dc.subject | Decentralized Control | - |
| dc.title | 2台の非ホロノミック移動ロボットによる分散協調搬送 | - |
| dc.title | Coordinated Transportation by Two Nonholonomic Mobile Robots based on Decentralized Control | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.65.2379 | - |
| dc.identifier.scopus | eid_2-s2.0-0009685717 | - |
| dc.identifier.volume | 65 | - |
| dc.identifier.issue | 634 | - |
| dc.identifier.spage | 2379 | - |
| dc.identifier.epage | 2385 | - |